import type { Resource, Struct, Vector3 } from '../../types';
import * as baseApi from '../../gen/component/base/v1/base_pb';
import type { Geometry } from '../../gen/common/v1/common_pb';
export type BaseProperties = baseApi.GetPropertiesResponse;
export declare const BaseProperties: typeof baseApi.GetPropertiesResponse;
/** Represents a physical base of a robot. */
export interface Base extends Resource {
    /**
     * Get the geometries of the component in their current configuration
     *
     * @example
     *
     * ```ts
     * const base = new VIAM.BaseClient(machine, 'my_base');
     * const geometries = await base.getGeometries();
     * ```
     *
     * For more information, see [Base
     * API](https://docs.viam.com/dev/reference/apis/components/base/#getgeometries).
     */
    getGeometries: (extra?: Struct) => Promise<Geometry[]>;
    /**
     * Move a base in a straight line by a given distance at a given speed. This
     * method blocks until completed or cancelled.
     *
     * @example
     *
     * ```ts
     * const base = new VIAM.BaseClient(machine, 'my_base');
     *
     * // Move forward 40mm at 90mm/s
     * await base.moveStraight(40, 90);
     *
     * // Move backward 40mm at -90mm/s (backwards)
     * await base.moveStraight(40, -90);
     * ```
     *
     * For more information, see [Base
     * API](https://docs.viam.com/dev/reference/apis/components/base/#movestraight).
     *
     * @param distanceMm - Distance to move, in millimeters.
     * @param mmPerSec - Movement speed, in millimeters per second.
     */
    moveStraight(distanceMm: number, mmPerSec: number, extra?: Struct): Promise<void>;
    /**
     * Spin a base by a given angle at a given angular speed. This method blocks
     * until completed or cancelled.
     *
     * @example
     *
     * ```ts
     * const base = new VIAM.BaseClient(machine, 'my_base');
     *
     * // Spin 10 degrees clockwise at 15 degrees per second
     * await base.spin(10, 15);
     *
     * // Spin 180 degrees counter-clockwise at 20 degrees per second
     * await base.spin(-180, 20);
     * ```
     *
     * For more information, see [Base
     * API](https://docs.viam.com/dev/reference/apis/components/base/#spin).
     *
     * @param angleDeg - Degrees to spin.
     * @param degsPerSec - Angular speed, in degrees per second.
     */
    spin(angleDeg: number, degsPerSec: number, extra?: Struct): Promise<void>;
    /**
     * Set the linear and angular power of a base from -1 to 1 in terms of power
     * for each direction.
     *
     * @example
     *
     * ```ts
     * const base = new VIAM.BaseClient(machine, 'my_base');
     *
     * // Move forward at 75% power
     * await base.setPower(
     *   { x: 0, y: 0.75, z: 0 }, // linear power
     *   { x: 0, y: 0, z: 0 } // no rotation
     * );
     *
     * // Move straight back at 100% power
     * await base.setPower(
     *   { x: 0, y: -1, z: 0 }, // linear power
     *   { x: 0, y: 0, z: 0 } // no rotation
     * );
     *
     * // Turn counter-clockwise at 50% power
     * await base.setPower(
     *   { x: 0, y: 0, z: 0 }, // no linear movement
     *   { x: 0, y: 0, z: 0.5 } // rotate around z-axis
     * );
     *
     * // Turn clockwise at 60% power
     * await base.setPower(
     *   { x: 0, y: 0, z: 0 }, // no linear movement
     *   { x: 0, y: 0, z: -0.6 } // rotate around z-axis
     * );
     * ```
     *
     * For more information, see [Base
     * API](https://docs.viam.com/dev/reference/apis/components/base/#setpower).
     *
     * @param linear - Desired linear power percentage from -1 to 1.
     * @param angular - Desired angular power percentage from -1 to 1.
     */
    setPower(linear: Vector3, angular: Vector3, extra?: Struct): Promise<void>;
    /**
     * Set the linear and angular velocity of a base.
     *
     * @example
     *
     * ```ts
     * const base = new VIAM.BaseClient(machine, 'my_base');
     *
     * // Move forward at 50mm/s while spinning 15 degrees per second to the left
     * await base.setVelocity(
     *   { x: 0, y: 50, z: 0 }, // linear velocity in mm/s
     *   { x: 0, y: 0, z: 15 } // 15 degrees per second counter-clockwise
     * );
     * ```
     *
     * For more information, see [Base
     * API](https://docs.viam.com/dev/reference/apis/components/base/#setvelocity).
     *
     * @param linear - Desired linear velocity in millimeters per second.
     * @param angular - Desired angular velocity in degrees per second.
     */
    setVelocity(linear: Vector3, angular: Vector3, extra?: Struct): Promise<void>;
    /**
     * Stop a base
     *
     * @example
     *
     * ```ts
     * const base = new VIAM.BaseClient(machine, 'my_base');
     * await base.stop();
     * ```
     *
     * For more information, see [Base
     * API](https://docs.viam.com/dev/reference/apis/components/base/#stop).
     */
    stop(extra?: Struct): Promise<void>;
    /**
     * Return true if the base is in motion.
     *
     * @example
     *
     * ```ts
     * const base = new VIAM.BaseClient(machine, 'my_base');
     * const moving = await base.isMoving();
     * ```
     *
     * For more information, see [Base
     * API](https://docs.viam.com/dev/reference/apis/components/base/#ismoving).
     */
    isMoving(): Promise<boolean>;
    /**
     * Return the base's properties.
     *
     * @example
     *
     * ```ts
     * const base = new VIAM.BaseClient(machine, 'my_base');
     * const properties = await base.getProperties();
     * ```
     *
     * For more information, see [Base
     * API](https://docs.viam.com/dev/reference/apis/components/base/#getproperties).
     */
    getProperties(extra?: Struct): Promise<BaseProperties>;
}